add some unit tests

src/System/tests/PeriodicThreadTest.cpp

@@ -43,6 +43,29 @@ class Thread : public PeriodicThread
  }
 };
 
+class ThreadWithDeadlineMiss : public PeriodicThread
+{
+protected:
+ bool threadInit() override
+ {
+ return true;
+ }
+ bool run() override
+ {
+ BipedalLocomotion::clock().sleepFor(waitTime);
+ return true;
+ }
+
+private:
+ std::chrono::nanoseconds waitTime;
+
+public:
+ void setWaitTime(std::chrono::nanoseconds time)
+ {
+ waitTime = time;
+ }
+};
+
 TEST_CASE("Test Periodic Thread", "[PeriodicThread]")
 {
  BipedalLocomotion::System::ClockBuilder::setFactory(
@@ -140,10 +163,44 @@ TEST_CASE("Test Periodic Thread", "[PeriodicThreadNotAllowed]")
  // try to set the policy
  REQUIRE(!thread.setPolicy(SCHED_OTHER, 0));
 
+ // try to set the maximum number of accepted deadline miss
+ REQUIRE(!thread.setMaximumNumberOfAcceptedDeadlineMiss(0));
+
+ // try to enable early wake up
+ REQUIRE(!thread.enableEarlyWakeUp());
+
  // stop the thread
  thread.stop();
  BipedalLocomotion::clock().sleepFor(period);
 
  // try to resume the thread
  REQUIRE(!thread.resume());
+}
+
+TEST_CASE("Test Periodic Thread", "[PeriodicThreadDeadlineMiss]")
+{
+ auto period = 50ms;
+
+ // create
+ auto thread = ThreadWithDeadlineMiss();
+
+ // set the period
+ REQUIRE(thread.setPeriod(period));
+
+ // set the wait time in the run function to trigger a deadline miss
+ thread.setWaitTime(2 * period);
+
+ // set the maximum number of accepted deadline miss
+ REQUIRE(thread.setMaximumNumberOfAcceptedDeadlineMiss(2));
+
+ // start the thread
+ REQUIRE(thread.start());
+
+ BipedalLocomotion::clock().sleepFor(10 * period);
+
+ // check if the thread is stopped
+ REQUIRE(!thread.isRunning());
+
+ // check the number of deadline miss
+ REQUIRE(thread.getNumberOfDeadlineMiss() == 3);
 }